OpenRaiser/Intern-Atlas huggingface dataset:
Hierarchical Deep Deterministic Policy Gradient for Autonomous Maze Navigation of Mobile Robots
Venue: arXiv cs.RO 2025
Year: 2025

Maze navigation is a fundamental challenge in robotics, requiring agents to traverse complex environments efficiently. While the Deep Deterministic Policy Gradient (DDPG) algorithm excels in control tasks, its performance in maze navigation suffers from sparse rewards, inefficient exploration, and long-horizon planning difficulties, often leading to low success rates and average rewards, sometimes even failing to achieve effective navigation. To address these limitations, this paper proposes an efficient Hierarchical DDPG (HDDPG) algorithm, which includes high-level and low-level policies. The high-level policy employs an advanced DDPG framework to generate intermediate subgoals from a long-term perspective and on a higher temporal scale. The low-level policy, also powered by the improved DDPG algorithm, generates primitive actions by observing current states and following the subgoal assigned by the high-level policy. The proposed method enhances stability with off-policy correction, refining subgoal assignments by relabeling historical experiences. Additionally, adaptive parameter space noise is utilized to improve exploration, and a reshaped intrinsic-extrinsic reward function is employed to boost learning efficiency. Further optimizations, including gradient clipping and Xavier initialization, are employed to improve robustness. The proposed algorithm is rigorously evaluated through numerical simulation experiments executed using the Robot Operating System (ROS) and Gazebo. Regarding the three distinct final targets in autonomous maze navigation tasks, HDDPG significantly overcomes the limitations of standard DDPG and its variants, improving the success rate by at least 56.59% and boosting the average reward by a minimum of 519.03 compared to baseline algorithms.
Attribute Guidance With Inherent Pseudo-label For Occluded Person Re-identification
Venue: arXiv cs.CV 2025
Year: 2025

Person re-identification (Re-ID) aims to match person images across different camera views, with occluded Re-ID addressing scenarios where pedestrians are partially visible. While pre-trained vision-language models have shown effectiveness in Re-ID tasks, they face significant challenges in occluded scenarios by focusing on holistic image semantics while neglecting fine-grained attribute information. This limitation becomes particularly evident when dealing with partially occluded pedestrians or when distinguishing between individuals with subtle appearance differences. To address this limitation, we propose Attribute-Guide ReID (AG-ReID), a novel framework that leverages pre-trained models' inherent capabilities to extract fine-grained semantic attributes without additional data or annotations. Our framework operates through a two-stage process: first generating attribute pseudo-labels that capture subtle visual characteristics, then introducing a dual-guidance mechanism that combines holistic and fine-grained attribute information to enhance image feature extraction. Extensive experiments demonstrate that AG-ReID achieves state-of-the-art results on multiple widely-used Re-ID datasets, showing significant improvements in handling occlusions and subtle attribute differences while maintaining competitive performance on standard Re-ID scenarios.
Can Large Language Models Integrate Spatial Data? Empirical Insights into Reasoning Strengths and Computational Weaknesses
Venue: arXiv cs.AI 2025
Year: 2025

We explore the application of large language models (LLMs) to empower domain experts in integrating large, heterogeneous, and noisy urban spatial datasets. Traditional rule-based integration methods are unable to cover all edge cases, requiring manual verification and repair. Machine learning approaches require collecting and labeling of large numbers of task-specific samples. In this study, we investigate the potential of LLMs for spatial data integration. Our analysis first considers how LLMs reason about environmental spatial relationships mediated by human experience, such as between roads and sidewalks. We show that while LLMs exhibit spatial reasoning capabilities, they struggle to connect the macro-scale environment with the relevant computational geometry tasks, often producing logically incoherent responses. But when provided relevant features, thereby reducing dependence on spatial reasoning, LLMs are able to generate high-performing results. We then adapt a review-and-refine method, which proves remarkably effective in correcting erroneous initial responses while preserving accurate responses. We discuss practical implications of employing LLMs for spatial data integration in real-world contexts and outline future research directions, including post-training, multi-modal integration methods, and support for diverse data formats. Our findings position LLMs as a promising and flexible alternative to traditional rule-based heuristics, advancing the capabilities of adaptive spatial data integration.
Wave Computing based on Dynamical Networks: Applications in Optimization Problems
Venue: arXiv cs.ET 2025
Year: 2025

We develop a computing framework that leverages wave propagation within an interconnected network, where nodes and edges possess wave manipulation capabilities, such as frequency mixing or time delay. This computing paradigm can not only achieve intrinsic parallelism like existing works by the exploration of an exponential number of possibilities simultaneously with very small number of hardware units, but also extend this unique characteristic to a multidimensional space including spatial, temporal and frequency domains, making it particularly effective for addressing NP-hard problems. The proposed architecture has been validated through SPICE simulations, demonstrating its potential capability in solving several NP-hard problems, such as the Number Partitioning Problem, the 0/1 Knapsack Problem, and the Traveling Salesman Problem.
Skin-SOAP: A Weakly Supervised Framework for Generating Structured SOAP Notes
Venue: arXiv cs.CV 2025
Year: 2025

Skin carcinoma is the most prevalent form of cancer globally, accounting for over $8 billion in annual healthcare expenditures. Early diagnosis, accurate and timely treatment are critical to improving patient survival rates. In clinical settings, physicians document patient visits using detailed SOAP (Subjective, Objective, Assessment, and Plan) notes. However, manually generating these notes is labor-intensive and contributes to clinician burnout. In this work, we propose skin-SOAP, a weakly supervised multimodal framework to generate clinically structured SOAP notes from limited inputs, including lesion images and sparse clinical text. Our approach reduces reliance on manual annotations, enabling scalable, clinically grounded documentation while alleviating clinician burden and reducing the need for large annotated data. Our method achieves performance comparable to GPT-4o, Claude, and DeepSeek Janus Pro across key clinical relevance metrics. To evaluate this clinical relevance, we introduce two novel metrics MedConceptEval and Clinical Coherence Score (CCS) which assess semantic alignment with expert medical concepts and input features, respectively.
On the Classical Hardness of the Semidirect Discrete Logarithm Problem in Finite Groups
Venue: arXiv cs.CR 2025
Year: 2025

The semidirect discrete logarithm problem (SDLP) in finite groups was proposed as a foundation for post-quantum cryptographic protocols, based on the belief that its non-abelian structure would resist quantum attacks. However, recent results have shown that SDLP in finite groups admits efficient quantum algorithms, undermining its quantum resistance. This raises a fundamental question: does the SDLP offer any computational advantages over the standard discrete logarithm problem (DLP) against classical adversaries? In this work, we investigate the classical hardness of SDLP across different finite group platforms. We establish that the group-case SDLP can be reformulated as a generalized discrete logarithm problem, enabling adaptation of classical algorithms to study its complexity. We present a concrete adaptation of the Baby-Step Giant-Step algorithm for SDLP, achieving time and space complexity $O(\sqrt{r})$ where $r$ is the period of the underlying cycle structure. Through theoretical analysis and experimental validation in SageMath, we demonstrate that the classical hardness of SDLP is highly platform-dependent and does not uniformly exceed that of standard DLP. In finite fields $\mathbb{F}_p^*$, both problems exhibit comparable complexity. Surprisingly, in elliptic curves $E(\mathbb{F}_p)$, the SDLP becomes trivial due to the bounded automorphism group, while in elementary abelian groups $\mathbb{F}_p^n$, the SDLP can be harder than DLP, with complexity varying based on the eigenvalue structure of the automorphism. Our findings reveal that the non-abelian structure of semidirect products does not inherently guarantee increased classical hardness, suggesting that the search for classically hard problems for cryptographic applications requires more careful consideration of the underlying algebraic structures.
Learning from Oblivion: Predicting Knowledge Overflowed Weights via Retrodiction of Forgetting
Venue: arXiv cs.LG 2025
Year: 2025

Pre-trained weights have become a cornerstone of modern deep learning, enabling efficient knowledge transfer and improving downstream task performance, especially in data-scarce scenarios. However, a fundamental question remains: how can we obtain better pre-trained weights that encapsulate more knowledge beyond the given dataset? In this work, we introduce \textbf{KNowledge Overflowed Weights (KNOW)} prediction, a novel strategy that leverages structured forgetting and its inversion to synthesize knowledge-enriched weights. Our key insight is that sequential fine-tuning on progressively downsized datasets induces a structured forgetting process, which can be modeled and reversed to recover knowledge as if trained on a larger dataset. We construct a dataset of weight transitions governed by this controlled forgetting and employ meta-learning to model weight prediction effectively. Specifically, our \textbf{KNowledge Overflowed Weights Nowcaster (KNOWN)} acts as a hyper-model that learns the general evolution of weights and predicts enhanced weights with improved generalization. Extensive experiments across diverse datasets and architectures demonstrate that KNOW prediction consistently outperforms Naïve fine-tuning and simple weight prediction, leading to superior downstream performance. Our work provides a new perspective on reinterpreting forgetting dynamics to push the limits of knowledge transfer in deep learning.
Automatic Image Colorization with Convolutional Neural Networks and Generative Adversarial Networks
Venue: arXiv cs.CV 2025
Year: 2025

Image colorization, the task of adding colors to grayscale images, has been the focus of significant research efforts in computer vision in recent years for its various application areas such as color restoration and automatic animation colorization [15, 1]. The colorization problem is challenging as it is highly ill-posed with two out of three image dimensions lost, resulting in large degrees of freedom. However, semantics of the scene as well as the surface texture could provide important cues for colors: the sky is typically blue, the clouds are typically white and the grass is typically green, and there are huge amounts of training data available for learning such priors since any colored image could serve as a training data point [20]. Colorization is initially formulated as a regression task[5], which ignores the multi-modal nature of color prediction. In this project, we explore automatic image colorization via classification and adversarial learning. We will build our models on prior works, apply modifications for our specific scenario and make comparisons.
Align-for-Fusion: Harmonizing Triple Preferences via Dual-oriented Diffusion for Cross-domain Sequential Recommendation
Venue: arXiv cs.IR 2025
Year: 2025

Personalized sequential recommendation aims to predict appropriate items for users based on their behavioral sequences. To alleviate data sparsity and interest drift issues, conventional approaches typically incorporate auxiliary behaviors from other domains via cross-domain transition. However, existing cross-domain sequential recommendation (CDSR) methods often follow an align-then-fusion paradigm that performs representation-level alignment across multiple domains and combines them mechanically for recommendation, overlooking the fine-grained fusion of domain-specific preferences. Inspired by recent advances in diffusion models (DMs) for distribution matching, we propose an align-for-fusion framework for CDSR to harmonize triple preferences via dual-oriented DMs, termed HorizonRec. Specifically, we investigate the uncertainty injection of DMs and identify stochastic noise as a key source of instability in existing DM-based recommenders. To address this, we introduce a mixed-conditioned distribution retrieval strategy that leverages distributions retrieved from users' authentic behavioral logic as semantic bridges across domains, enabling consistent multi-domain preference modeling. Furthermore, we propose a dual-oriented preference diffusion method to suppress potential noise and emphasize target-relevant interests during multi-domain user representation fusion. Extensive experiments on four CDSR datasets from two distinct platforms demonstrate the effectiveness and robustness of HorizonRec in fine-grained triple-domain preference fusion.
PoseGen: In-Context LoRA Finetuning for Pose-Controllable Long Human Video Generation
Venue: arXiv cs.CV 2025
Year: 2025

Generating long, temporally coherent videos with precise control over subject identity and motion is a formidable challenge for current diffusion models, which often suffer from identity drift and are limited to short clips. We introduce PoseGen, a novel framework that generates arbitrarily long videos of a specific subject from a single reference image and a driving pose sequence. Our core innovation is an in-context LoRA finetuning strategy that injects subject appearance at the token level for identity preservation, while simultaneously conditioning on pose information at the channel level for fine-grained motion control. To overcome duration limits, PoseGen pioneers an interleaved segment generation method that seamlessly stitches video clips together, using a shared KV cache mechanism and a specialized transition process to ensure background consistency and temporal smoothness. Trained on a remarkably small 33-hour video dataset, extensive experiments show that PoseGen significantly outperforms state-of-the-art methods in identity fidelity, pose accuracy, and its unique ability to produce coherent, artifact-free videos of unlimited duration.
Necessity of Block Designs for Optimal Locally Private Distribution Estimation
Venue: arXiv cs.IT 2025
Year: 2025

Local differential privacy represents the gold standard for preserving the privacy of data before it leaves the device, and distribution estimation under this model has been well studied. Recently, protocols built upon balanced incomplete block designs were shown to achieve optimal error for this problem. However, it remained unknown whether other constructions could also be optimal. We resolve this question by proving that any protocol achieving optimal error must correspond to some balanced incomplete block design. This result, combined with prior work, completely characterises the set of optimal protocols for this problem. As a consequence, the protocols that achieve optimal error and optimal communication are only those based on symmetrical balanced incomplete block designs.
Metacognition and self-regulated learning in manipulative robotic problem-solving task
Venue: arXiv cs.HC 2025
Year: 2025

Metacognition is an important aspect in creative problem solving (CPS) and through this chapter we analyse the meta-reasoning aspects applied in the different processes of monitoring the progress of learners' reasoning and CPS activities. Meta-reasoning monitors the way that problem-solving processes advance and regulate time and efforts towards a solution. In the context of an ill-defined problem, exploration is required to develop a better-defined problem space and advance towards the solution space. The way learners engage in exploration and exploitations is regulated by the meta-reasoning within the CPS activity. The objective of this chapter is to examine and identify the CPS process with educational robots through a metacognitive and interactionist approach. This chapter presents a case study, where, to solve a problem, a participant had to explore a set of robot cubes to develop the technological knowledge associated with each single component of the system, but also conceptualize a system-level behaviour of the cubes when they are assembled. The chapter presents the emergence of knowledge through the metacognitive regulation of the process of exploration and exploitation of prior knowledge and emergent knowledge until finding a solution
Beyond Automation: Socratic AI, Epistemic Agency, and the Implications of the Emergence of Orchestrated Multi-Agent Learning Architectures
Venue: arXiv cs.AI 2025
Year: 2025

Generative AI is no longer a peripheral tool in higher education. It is rapidly evolving into a general-purpose infrastructure that reshapes how knowledge is generated, mediated, and validated. This paper presents findings from a controlled experiment evaluating a Socratic AI Tutor, a large language model designed to scaffold student research question development through structured dialogue grounded in constructivist theory. Conducted with 65 pre-service teacher students in Germany, the study compares interaction with the Socratic Tutor to engagement with an uninstructed AI chatbot. Students using the Socratic Tutor reported significantly greater support for critical, independent, and reflective thinking, suggesting that dialogic AI can stimulate metacognitive engagement and challenging recent narratives of de-skilling due to generative AI usage. These findings serve as a proof of concept for a broader pedagogical shift: the use of multi-agent systems (MAS) composed of specialised AI agents. To conceptualise this, we introduce the notion of orchestrated MAS, modular, pedagogically aligned agent constellations, curated by educators, that support diverse learning trajectories through differentiated roles and coordinated interaction. To anchor this shift, we propose an adapted offer-and-use model, in which students appropriate instructional offers from these agents. Beyond technical feasibility, we examine system-level implications for higher education institutions and students, including funding necessities, changes to faculty roles, curriculars, competencies and assessment practices. We conclude with a comparative cost-effectiveness analysis highlighting the scalability of such systems. In sum, this study contributes both empirical evidence and a conceptual roadmap for hybrid learning ecosystems that embed human-AI co-agency and pedagogical alignment.
TeraRIS NOMA-MIMO Communications for 6G and Beyond Industrial Networks
Venue: arXiv cs.NI 2025
Year: 2025

This paper presents a joint framework that integrates reconfigurable intelligent surfaces (RISs) with Terahertz (THz) communications and non-orthogonal multiple access (NOMA) to enhance smart industrial communications. The proposed system leverages the advantages of RIS and THz bands to improve spectral efficiency, coverage, and reliability key requirements for industrial automation and real-time communications in future 6G networks and beyond. Within this framework, two power allocation strategies are investigated: the first optimally distributes power between near and far industrial nodes, and the second prioritizes network demands to enhance system performance further. A performance evaluation is conducted to compare the sum rate and outage probability against a fixed power allocation scheme. Our scheme achieves up to a 23% sum rate gain over fixed PA at 30 dBm. Simulation results validate the theoretical analysis, demonstrating the effectiveness and robustness of the RIS-assisted NOMA MIMO framework for THz enabled industrial communications.
HFedATM: Hierarchical Federated Domain Generalization via Optimal Transport and Regularized Mean Aggregation
Venue: arXiv cs.LG 2025
Year: 2025

Federated Learning (FL) is a decentralized approach where multiple clients collaboratively train a shared global model without sharing their raw data. Despite its effectiveness, conventional FL faces scalability challenges due to excessive computational and communication demands placed on a single central server as the number of participating devices grows. Hierarchical Federated Learning (HFL) addresses these issues by distributing model aggregation tasks across intermediate nodes (stations), thereby enhancing system scalability and robustness against single points of failure. However, HFL still suffers from a critical yet often overlooked limitation: domain shift, where data distributions vary significantly across different clients and stations, reducing model performance on unseen target domains. While Federated Domain Generalization (FedDG) methods have emerged to improve robustness to domain shifts, their integration into HFL frameworks remains largely unexplored. In this paper, we formally introduce Hierarchical Federated Domain Generalization (HFedDG), a novel scenario designed to investigate domain shift within hierarchical architectures. Specifically, we propose HFedATM, a hierarchical aggregation method that first aligns the convolutional filters of models from different stations through Filter-wise Optimal Transport Alignment and subsequently merges aligned models using a Shrinkage-aware Regularized Mean Aggregation. Our extensive experimental evaluations demonstrate that HFedATM significantly boosts the performance of existing FedDG baselines across multiple datasets and maintains computational and communication efficiency. Moreover, theoretical analyses indicate that HFedATM achieves tighter generalization error bounds compared to standard hierarchical averaging, resulting in faster convergence and stable training behavior.
From Canada to Japan: How 10,000 km Affect User Perception in Robot Teleoperation
Venue: arXiv cs.RO 2025
Year: 2025

Robot teleoperation (RTo) has emerged as a viable alternative to local control, particularly when human intervention is still necessary. This research aims to study the distance effect on user perception in RTo, exploring the potential of teleoperated robots for older adult care. We propose an evaluation of non-expert users' perception of long-distance RTo, examining how their perception changes before and after interaction, as well as comparing it to that of locally operated robots. We have designed a specific protocol consisting of multiple questionnaires, along with a dedicated software architecture using the Robotics Operating System (ROS) and Unity. The results revealed no statistically significant differences between the local and remote robot conditions, suggesting that robots may be a viable alternative to traditional local control.